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A potential-flow panel method is used to compute the waves and the lift force from surface-piercing and submerged bodies. In particular the interaction between the waves and the lift produced close to the free surface is studied. Both linear and non-linear free-surface boundary conditions are considered. The potential-flow method is of Rankine-source type using raised source panels on the free surface and a four-point upwind operator to compute the velocity derivatives and to enforce the radiation condition. The lift force is introduced as a dipole distribution on the lifting surfaces and on the trailing wake, together with a flow tangency condition at the trailing edge of the lifting surface. Different approximations for the spanwise circulation distribution at the free surface were tested for a surface-piercing wing and it was concluded that a double-model approximation should be used for low speeds while a single-model, which allows for a vortex at the free surface, was preferred at higher speeds. The lift force and waves from three surface-piercing wings, a hydrofoil and a sailing yacht were computed and compared with measurements and good agreement was obtained.